version: 66.02
glider: 22
mission: 2
dive: 426
start: 10 7 107 1 12 40
data:
$ID,22
$MISSION,2
$DIVE,426
$D_SURF,5
$D_FLARE,2
$D_TGT,85
$D_ABORT,1050
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,45
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,600
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,90
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51950
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0040048002
$HD_B,0.010364
$HD_C,5.4717998e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-119163.16
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3347
$C_PITCH,2530
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,208
$ROLL_MAX,3567
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,6
$R_STBD_OVSHOOT,9
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,658
$VBD_MAX,3994
$C_VBD,3484
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,16
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-21.951805
$PRESSURE_SLOPE,0.00011632
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.7
$TCM_ROLL_OFFSET,-0.89999998
$ALTIM_BOTTOM_PING_RANGE,15
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,0
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,3
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,1
$SMARTDEVICE1,5
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,0
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044140997
$SEABIRD_T_H,0.00064927549
$SEABIRD_T_I,2.7523491e-05
$SEABIRD_T_J,3.1132354e-06
$SEABIRD_C_G,-10.525962
$SEABIRD_C_H,1.1896306
$SEABIRD_C_I,-0.0026426413
$SEABIRD_C_J,0.00031414768
$GPS1,010223,4740.735,-12250.216,11,5.7,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-64.5
$GPS2,011117,4740.796,-12250.062,13,4.2,32,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.245,0.002
$KALMAN_X,62369.0,309.8,-6.7,-59035.7,372.9
$KALMAN_Y,12313.4,183.5,121.9,-10574.8,-59.9
$MHEAD_RNG_PITCHd_Wd,252.2,447,-10.1,-6.296
$D_GRID,89
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,34,end surface,CONTROL_FINISHED_OK
$STATE,34,begin dive
$GC,38,-0.73,-88.0,0.0,0.0,0,112,0.00,0.00,-72.18,0.000,2,0.000,0.000,34,2207,3141
$GC,116,-0.73,-88.0,2.4,-2.3,12,165,13.55,3.05,-26.38,0.000,4,0.194,0.150,2365,783,3845
$GC,178,-0.73,-88.0,5.9,-5.5,22,184,0.00,2.88,0.00,0.000,6,0.000,0.113,2365,2206,3845
$GC,250,-0.73,-88.0,11.0,-6.9,33,256,0.00,3.00,0.00,0.000,4,0.000,0.136,2365,775,3845
$GC,276,-0.73,-88.0,13.0,-7.7,37,282,0.00,2.90,0.00,0.000,6,0.000,0.118,2365,2203,3845
$GC,348,-0.73,-88.0,17.8,-6.1,48,354,0.00,2.92,0.00,0.000,4,0.000,0.148,2365,3574,3847
$GC,407,-0.73,-88.0,21.5,-6.4,55,413,0.00,2.80,0.00,0.000,6,0.000,0.111,2365,2186,3846
$GC,603,-0.73,-88.0,32.6,-5.5,71,607,0.00,2.92,0.00,0.000,4,0.000,0.140,2365,779,3846
$GC,662,-0.73,-88.0,35.8,-5.0,75,666,0.00,2.90,0.00,0.000,6,0.000,0.117,2365,2212,3846
$GC,858,-0.73,-88.0,46.2,-5.2,90,862,0.00,2.90,0.00,0.000,4,0.000,0.149,2365,3574,3846
$GC,910,-0.73,-88.0,49.0,-5.3,93,916,0.00,2.80,0.00,0.000,6,0.000,0.113,2365,2191,3847
$GC,1106,-0.73,-88.0,59.3,-5.5,109,1111,0.00,2.97,0.00,0.000,4,0.000,0.145,2365,773,3848
$GC,1158,-0.73,-88.0,62.3,-5.8,112,1164,0.00,2.90,0.00,0.000,6,0.000,0.117,2365,2209,3847
$GC,1354,-0.73,-88.0,72.8,-5.4,128,1359,0.00,2.88,0.00,0.000,4,0.000,0.147,2365,3570,3847
$GC,1387,-0.73,-88.0,74.8,-6.0,130,1392,0.00,2.80,0.00,0.000,6,0.000,0.119,2365,2193,3846
$GC,1583,-0.73,-88.0,83.7,-4.8,145,1588,0.00,2.97,0.00,0.000,4,0.000,0.147,2365,780,3846
$STATE,1606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1606,begin apogee
$GC,1615,-0.31,0.0,85.0,4.8,146,1687,0.47,0.00,69.03,0.733,6,0.128,0.000,2458,2054,3484
$STATE,1688,end apogee,CONTROL_FINISHED_OK
$STATE,1688,begin climb
$GC,1691,0.73,88.0,86.6,0.0,152,1763,1.10,0.00,68.65,0.719,6,0.104,0.000,2683,2054,3124
$GC,1947,0.78,135.2,76.1,5.2,173,1990,0.00,3.00,36.15,0.715,4,0.000,0.128,2683,630,2931
$GC,2029,0.78,135.2,70.8,6.8,179,2034,0.00,2.78,0.00,0.000,6,0.000,0.090,2683,2059,2931
$GC,2225,0.78,135.2,57.7,6.7,194,2230,0.00,2.85,0.00,0.000,4,0.000,0.125,2683,3461,2931
$GC,2284,0.78,135.2,53.1,7.8,198,2289,0.00,2.80,0.00,0.000,6,0.000,0.100,2683,2048,2931
$GC,2479,0.78,135.2,39.2,7.0,213,2484,0.00,2.90,0.00,0.000,4,0.000,0.130,2683,630,2931
$GC,2571,0.78,135.2,32.9,6.3,219,2577,0.00,2.72,0.00,0.000,6,0.000,0.084,2683,2060,2930
$GC,2767,0.81,159.2,21.1,5.8,235,2792,0.10,2.88,18.02,0.702,4,0.081,0.119,2707,3463,2833
$GC,2819,0.81,159.2,17.2,7.6,241,2825,0.00,2.80,0.00,0.000,6,0.000,0.095,2707,2044,2833
$GC,2891,0.81,159.2,12.2,7.1,252,2897,0.00,2.88,0.00,0.000,4,0.000,0.126,2707,631,2832
$STATE,3007,end climb,SURFACE_DEPTH_REACHED
$STATE,3007,begin surface coast
$FINISH,0.7,1.011874
$STATE,3107,end surface coast,CONTROL_FINISHED_OK
$STATE,3107,begin surface
$SM_CCo,3205,153.23,0.648,0,0,1648,450.13
$SM_GC,1.31,0.00,0.00,153.23,0.000,0.000,0.648,38,2209,1648,-11.47,0.23,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.045253
$HUMID,2047
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,7.9
$24V_AH,23.8,46.381
$10V_AH,10.1,12.318
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,27.250,74.900,191.850,153.225,0.000,32.672,51.227,106.452,0.500,0.000,0.000,33.462,524.796,1756.643,483.352,547.842,530.852,33.347,805.482,0.000,498.955,0.000,5.348
$DEVICE_MAMPS,194.051,149.565,733.252,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,188.310,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6416,285
$CFSIZE,260034560,246067200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,020946,4740.809,-12250.121,11,2.5,30,18.3